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23rd IEEE International Conference on Automation, Quality and Testing, robotics (AQTR)

作者： Burz, Alin Tucan, Paul Tohanean, Nicoleta Gherman, Bogdan Vaida, Calin Abrudan, Cristian Carbone, Giuseppe Pisla, Doina Tech Univ Cluj Napoca CESTER Res Ctr Robots Simulat & Testing Cluj Napoca Romania Iuliu Hatieganu Univ Med & Pharm Dept Neurol Cluj Napoca Romania Univ Calabria DIMEG I-87036 Cosenza Italy

ISBN: (纸本)9781665479332

The present paper focuses on the development of a command system based on different Human robot Interaction (HRI) strategies for a parallel robot for medical rehabilitation of the wrist. The command system uses several predefined functions personalized to the medical rehabilitation task based on the torque control monitoring capabilities of the system. To validate the proposed command system several in-lab experimental tests are performed using healthy subject.

关键词： parallel robot HRI robotic-assisted rehabilitation brachial monoparesis torque control

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Experiments of vacuum vessel in-situ milling via mobile parallel robot machine

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FUSION ENGINEERING AND DESIGN 2024年 205卷

作者： Li, Junwei Cheng, Yong Ji, Haibiao Pan, Hongtao Yang, Yang Zhang, Xuanchen Zhong, Yaqi Song, Yuntao Wu, Huapeng Li, Changyang Chinese Acad Sci Hefei Inst Phys Sci Inst Plasma Phys Hefei 230031 Peoples R China Univ Sci & Technol China Hefei 230026 Peoples R China LUT Univ Lab Intelligent Machines Lappeenranta 53850 Finland

The vacuum vessel, as a type of ultra-large structural component, is prone to dimensional deviations and welding cracks during the manufacturing process, making high-precision assembly a challenging issue. In situ milling offers a strategy to remove flawed areas without the need for repeatedly moving the vacuum vessel, thereby enhancing assembly quality and speed. In this study, a movable parallel robot was utilized for in situ milling experiments within a full-scale vacuum vessel test platform. Additionally, machining auxiliary equipment was developed to address issues such as in situ cuttings collection and cooling, with the effectiveness of milling being assessed via vibration signals and surface morphology. The findings demonstrate that this machining technique can achieve a roughness of less than 1 mu m at a material removal rate of 1800 mm 3 /min, and position repeatable accuracy of 0.01 mm, thus facilitating high-quality in-situ processing. In summary, this research provides a new practice for achieving precise in situ milling of the vacuum vessel.

关键词： In-situ milling parallel robot Vacuum vessel Precision assembly

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On the Control and Validation of the PARA-SILSROB Surgical parallel robot

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APPLIED SCIENCES-BASEL 2024年第17期14卷 7925页

作者： Pisla, Doina Popa, Calin Pusca, Alexandru Ciocan, Andra Gherman, Bogdan Mois, Emil Cailean, Andrei-Daniel Vaida, Calin Radu, Corina Chablat, Damien Hajjar, Nadim Al Tech Univ Cluj Napoca Cluj Napoca 400114 Romania Iuliu Hatieganu Univ Med & Pharm Dept Surg Cluj Napoca 400347 Romania Iuliu Hatieganu Univ Med & Pharm Dept Internal Med Cluj Napoca 400347 Romania Nantes Univ Ecole Cent Nantes CNRS LS2NUMR 6004 F-44000 Nantes France

This paper presents the development of the hardware and software architecture of a sixdegrees of freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all the stages undertaken to achieve the experimental model of the robot. Based on the experimental model, the control architecture is also presented, which is primarily based on a master-slave control system through which the surgeon controls the robot using the master console composed of commercial peripheral components (two 3D Space Mouse devices, computer, and keyboard) integrated with the solution developed in this study and presented in this paper. The robot was developed also according to the surgical protocol and surgeon's requirements, and for the functionality testing of the mechanical structure, two experimental stands were used. The first stand presented several surgical steps, such as manipulation, resection, and suture of experimental tissues (simulating real-life robot-assisted surgical maneuvers) using commercial instruments. The second stand presented a simulation of an esophagectomy for esophageal cancer and digestive reconstruction through a right intercostal approach. For this testing phase, the organs were created using 3D reconstruction, and their simplified models were 3D printed using PolyJet technology. Furthermore, the input trajectory generated using the master console was compared with the robot actuator's movements and the obtained results were used for validation of the proposed robot control system.

关键词： parallel robot robot-assisted surgery experimental test surgical robot esophagectomy esophageal cancer single incision laparoscopic surgery

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Model-based Control of a 3UPS+1RPU parallel robot for Knee Rehabilitation 40

Model-based Control of a 3UPS+1RPU Parallel Robot for Knee R...

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40th IEEE Central America and Panama Convention (CONCAPAN)

作者： Vicente, Kleber Arcos, Luis Cruz, Patricio Abad, Jackeline Zambrano, Ivan Escuela Politec Nacl Fac Ing Elect & Elect Quito Ecuador Escuela Politec Nacl Fac Ing Mecan Quito Ecuador

ISBN: (数字)9781728167152

ISBN: (纸本)9781728167152

The development of rehabilitation robots today represents a vast field for developing control techniques, mainly in devices intended for the rehabilitation of lower limbs. This article compares three control methodologies using the dynamics of a parallel manipulator type 3UPS + 1RPU to analyze the behavior when following a predefined trajectory. It begins with analyzing the inverse and forward kinematics and the components of the robot dynamics. Then, in the same way, the restrictions and configurations are analyzed to avoid the singularities of the system. Finally, the performance index based on the integral of the squared error is used to compare which controller is more reliable, as well as the energy expenditure of the actuators when performing the prescribed task. All this is under a simulation environment that allows verifying the robot's behavior.

关键词： parallel robot Knee Rehabilitation Cosimulation Trajectory Tracking

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Model Based Estimation of Passive Joint Clearance in parallel robot and Its Application to Failure Detection 1st

Model Based Estimation of Passive Joint Clearance in Paralle...

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1st IFToMM for Sustainable Development Goals workshop (I4SDG)

作者： Ohno, Masumi Takeda, Yukio Tokyo Inst Technol Tokyo 1528552 Japan

ISBN: (纸本)9783030873837;9783030873820

This paper focuses on the detection of failure of parallel robot caused by the existence of excessive joint clearance due to the wear of joint elements during a long use under high load at high speed. In order to enable the estimation of passive joint clearance values in parallel robot without specially designed trajectories and any additional equipment, a linearized model to formulate the relationship between the clearance and actuation torque difference was presented introducing the stochastic variables. Solution process of this formulation by using the torque data obtained by experiments and dynamic analyses for a set of trajectories was proposed. Experiments were conducted for an industrial Delta robot in which spherical joints having clearance ranging from 0 to 0.15 mm were used. Performance of the estimation of joint clearance was stochastically evaluated, and the results showed the feasibility of the failure detection based on the proposed method.

关键词： SDG9 parallel robot Failure detection Estimation of joint clearance Dynamic model Stochastic approach

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A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid parallel robot for Intuitive Sensorless Physical Human-robot Interaction

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IEEE TRANSACTIONS ON robotICS 2021年第4期37卷 1222-1238页

作者： Wen, Kefei Nguyen, Tan Sy Harton, David Laliberte, Thierry Gosselin, Clement Univ Laval Dept Mech Engn Quebec City PQ G1V 0A6 Canada

A novel backdrivable 3-[R(RR-RRR)SR] kinematically redundant (6+3)-degree-of-freedom (DOF) spatial hybrid parallel robot with revolute actuators is proposed for low-impedance physical human-robot interaction. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoided, thereby yielding a very large translational and orientational workspace. A workspace analysis is presented in order to demonstrate the capabilities of the robot. Mechanisms are then introduced to use the redundant DOF of the robot to operate a gripper with the robot actuators, which are mounted on or close to the base, thus reducing the inertia of the moving parts. The architecture of the robot makes it possible to use direct drive motors, thereby making the robot easily backdrivable and allowing the use of a very simple and effective controller. A prototype of the robot is then designed and built and the large workspace of the robot as well as the effortless physical human-robot interaction are demonstrated. The controller of the robot is then described, including a position control mode and a control mode for physical interaction, which does not require the use of a force/torque sensor or joint torque sensors. Because of its backdrivability and low moving inertia, the robot is particularly well-suited for physical human-robot interaction, as demonstrated in the accompanying videos.

关键词： robots robot sensing systems Legged locomotion Actuators Kinematics Redundancy parallel robots Hybrid robot kinematic redundancy orientational workspace parallel robot physical human-robot interaction remotely operated gripper singularities

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A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2024年 86卷

作者： Laliberte, Thierry Abdallah, Muhammad Gosselin, Clement Univ Laval Dept Genie Mecan 1065 Ave Medecine Quebec City PQ G1V 0A6 Canada Gen Motors R&D Mfg Syst Res Lab Warren MI 48090 USA

In order to combine low mechanical impedance and sufficient interaction forces, a six-degree-of-freedom robot featuring a mechanically backdrivable transmission with a low reduction ratio is proposed in this paper. Also, a parallel architecture is used in order to allow the use of relatively large and high-torque actuators. The architecture of the robot is first presented. Then, the geometry of the robot and the ratio of the transmissions are analysed in order to ensure that the selected design parameters yield the desired properties. Shock absorbers are also included in the legs of the robot so that impacts can be applied, e.g., for the assembly of some components. Then, algorithms are presented for Cartesian stiffness control and gravity compensation of the robot. Finally, a prototype is presented and validated experimentally for position control, impedance control and impact generation. The parallel robot presented in this paper is of particular interest for industrial assembly tasks.

关键词： Sensorless robot interaction parallel robot Backdrivable robot robot design Physical human-robot interaction

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Research on error analysis and calibration method of 3-PUU parallel robot

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE 2024年

作者： Chen, Mingfang Liang, Hongjian He, Chaoyin Zhang, Yongxia Huang, Liang'en Kunming Univ Sci & Technol Fac Mech & Elect Engn 727 Jingming South RdWujiaying St Kunming 650500 Yunnan Peoples R China

Kinematic calibration is necessary for the pose accuracy improvement of the parallel robots. However, difficulties occur in traditional calibration methods, such as exceeding a large number of error parameters and error accumulation. In this paper, a 3-PUU parallel robot is taken as the research object, and the closed-loop vector method and differential theory are employed to establish an error model. Through quantitative analysis of geometric parametric errors, redundant parameters within the calibration algorithm are meticulously eliminated. By treating the dominant error terms as optimization variables for the mechanism's parameters, the calibration problem is transformed into a nonlinear system optimization challenge, which effectively avoids the problem of multiple error parameters and accumulation of errors in the traditional method. Further, using the particle swarm algorithm to compute the minimum value of the objective function, one can obtain the actual structural parametric errors of the robot. These errors are then utilized to correct the kinematic model, enabling the calibration of the mechanism's parameters and ultimately enhancing operation accuracy. Lastly, simulation and experimental validation of the algorithm are carried out. The simulation results indicate that the end-effector position error converges to zero infinitely;and the experimental results indicate that the maximum error of the end-effector in the x, y, z directions and the maximum position error are reduced from 8.53, 11.67, 3.29, and 12.56 mm to 1.09, 1.32, 0.98, and 1.75 mm, respectively. The standard deviation of the position error is reduced from 2.43 to 0.32 mm. The mean error is reduced from 7.76 to 1.02 mm. To sum up, the operation accuracy and stability of the robot are greatly improved.

关键词： parallel robot error model kinematic calibration particle swarm optimization algorithm pose accuracy

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Novel Design of the ParReEx-Elbow parallel robot for the Rehabilitation of Brachial Monoparesis 7th

Novel Design of the ParReEx-Elbow Parallel Robot for the Reh...

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7th International Workshop on New Trends in Medical and Service robotics (MESROB)

作者： Gherman, Bogdan Tucan, Paul Vaida, Calin Carbone, Giuseppe Pisla, Doina Tech Univ Cluj Napoca Cluj Napoca Romania Univ Calabria Arcavacata Di Rende Italy

ISBN: (纸本)9783030761479;9783030761462

The paper presents the novel design of the ParReEx-elbow robotic system for the rehabilitation of the upper limb, namely the elbow flexion-extension and pronation-supination. Initially designed for post-stroke rehabilitation, the robot is now fitted for brachial monoparesis treatment, a manifestation of a broad range of neurologic diseases. Following the critical feedback and positive outcomes of previously performed clinical trials an improved design has been proposed. Validation simulations (FEM analysis and dynamic simulation) using the novel CAD robot model are presented, the results showing that the robot can be efficiently used for the proposed medical task.

关键词： parallel robot Upper limb rehabilitation Design FEM-analysis Dynamic simulation

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APPLICATION ORIENTED MODELLING AND SIMULATION OF AN INNOVATIVE parallel robot FOR SINGLE INCISION LAPAROSCOPIC SURGERY

APPLICATION ORIENTED MODELLING AND SIMULATION OF AN INNOVATI...

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ASME International Design Engineering Technical Conferences / 42nd Annual Computers and Information in Engineering Conference (IDETC-CIE) / 46th Mechanisms and robotics Conference (MR)

作者： Pisla, Doina Gherman, Bogdan Tucan, Paul Birlescu, Iosif Pusca, Alexandru Rus, Gabriela Pisla, Adrian Vaida, Calin Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9780791886281

Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot control system architecture of PARA-SILSROB. A CAD motion simulation validates the mathematical model using Siemens NX.

关键词： parallel robot kinematics modeling simulation robotic assisted SILS

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